How do you change the centre differential oil and rear differential oil in a 2002 RAV4 Cruiser petrol engine automatic?

Before loosening all of the support bolts, loosen the drain/fill bolt that is more inward than the others. Make sure you have a drain-pan that can hold about 4 qts or more to reduce spillage. once you have drain pan in place, slightly break loose all of the bolts holding the rear diff cover in place. Now on the lower end of the cover remove up to three bolts completely to allow fluid to drain at a slow yet progressive rate. Once the fluids are almost all out go ahead and take out the remaining bolts. With a rubber ended hammer gently tap on the cover if it is not coming off easy. As a last resort use a flat screwdriver to wedge in between gently the cover and gasket, working yourself ( the screw driver all the way around the cover until the cover drops. Use automotive grade Degreaser and spray the inner parts/gears and cover alike. Take some shop rags (paper towels not recommended due to fibers left behind). Take a flat razor or paint scraper and scrape away all of the old gasket particles on the differential and the cover alike. now to have the ultimate clean surface use some rubbing alcohol and soak a cotton ball or a clean (non-oily) rag and wipe the mating surfaces of the cover and the rear diff. allow to air dry for about 5-10 minutes. While this is air drying it's best to RTV blue/500 degree form a gasket. Apply about 1/4" in dia. around the entire mating surface of the diff cover where the old gasket once was. It's critical to not apply right away. Let it get slightly tacky. allow about 10-15 min, if it's colder than 50 degrees F out, allow another ten minutes. Now apply the cover to he rear differential gently. By hand place the bolts through just enough to keep the bolt in without falling out. (It helps if you start at the top and do a star or x pattern. Now if you have a torque ratchet apply about 28 ft/lbs AFTER all are snugged in place. Use your sound judgment. If you don't have one That's okay, just get them all fairly tight as if you were doing spark plugs, etc.. Now hold off on adding the differential fluid just yet. Wait 10-15 minutes to allow the gasket to set. Add fluid to the point of the drain/fill hole. Tighten that up to about 18 ft/lbs. Drive around in the parking lot or neighborhood doing figure 8's. This assists in getting the fluid in the gears/ clutches. Mission complete.